Ipf trig

.github/workflows/pr-branch-suggestion.yml

@@ -0,0 +1,37 @@
+name: PR Branch Suggestion
+
+on:
+  pull_request_target:
+    types: [opened]
+    branches:
+      - master
+
+jobs:
+  suggest-branch:
+    runs-on: ubuntu-latest
+    permissions:
+      pull-requests: write
+    steps:
+      - name: Suggest maintenance branch
+        uses: actions/github-script@v7
+        with:
+          script: |
+            const comment = `### Branch Targeting Suggestion
+
+            You've targeted the \`master\` branch with this PR. Please consider if a version branch might be more appropriate:
+
+            - **\`maintenance-9.x\`** - If your change is backward-compatible and won't create compatibility issues between INAV firmware and Configurator 9.x versions. This will allow your PR to be included in the next 9.x release.
+
+            - **\`maintenance-10.x\`** - If your change introduces compatibility requirements between firmware and configurator that would break 9.x compatibility. This is for PRs which will be included in INAV 10.x
+
+            If \`master\` is the correct target for this change, no action is needed.
+
+            ---
+            *This is an automated suggestion to help route contributions to the appropriate branch.*`;
+
+            github.rest.issues.createComment({
+              issue_number: context.issue.number,
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              body: comment
+            });

js/configurator_main.js

@@ -138,6 +138,21 @@ $(function() {
                     return;
                 }
 
+                // Check for unsaved changes in current tab before switching
+                if (GUI.active_tab === 'javascript_programming' &&
+                    TABS.javascript_programming &&
+                    TABS.javascript_programming.isDirty) {
+                    console.log('[Tab Switch] Checking for unsaved changes in JavaScript Programming tab');
+                    const confirmMsg = i18n.getMessage('unsavedChanges') ||
+                        'You have unsaved changes. Leave anyway?';
+
+                    if (!confirm(confirmMsg)) {
+                        console.log('[Tab Switch] User cancelled tab switch');
+                        return; // Cancel tab switch
+                    }
+                    console.log('[Tab Switch] User confirmed tab switch');
+                }
+
                 GUI.tab_switch_in_progress = true;
 
                 GUI.tab_switch_cleanup(function () {

js/logicConditionOperators.js

@@ -261,6 +261,24 @@ const LOGIC_OPERATORS = {
         hasOperand: [true, false],
         output: "boolean"
     },
+    57: {
+        name: "Trigonometry: ACos",
+        operandType: "Maths",
+        hasOperand: [true, true],
+        output: "raw"
+    },
+    58: {
+        name: "Trigonometry: ASin",
+        operandType: "Maths",
+        hasOperand: [true, true],
+        output: "raw"
+    },
+    59: {
+        name: "Trigonometry: ATan2",
+        operandType: "Maths",
+        hasOperand: [true, true],
+        output: "raw"
+    },
     42: {
         name: "Set Control Profile",
         operandType: "Set Flight Parameter",
@@ -347,4 +365,4 @@ const LOGIC_OPERATORS = {
     },
 };
 
-export { LOGIC_OPERATORS };
+export { LOGIC_OPERATORS };

js/serial_backend.js

@@ -203,11 +203,28 @@ var SerialBackend = (function () {
                             CONFIGURATOR.connection.connect(selected_port, {bitrate: selected_baud}, privateScope.onOpen);
                         }
                     } else {
+                        // Check for unsaved changes in JavaScript Programming tab
+                        if (GUI.active_tab === 'javascript_programming' &&
+                            TABS.javascript_programming &&
+                            TABS.javascript_programming.isDirty) {
+                            console.log('[Disconnect] Checking for unsaved changes in JavaScript Programming tab');
+                            const confirmMsg = i18n.getMessage('unsavedChanges') ||
+                                'You have unsaved changes. Leave anyway?';
+
+                            if (!confirm(confirmMsg)) {
+                                console.log('[Disconnect] User cancelled disconnect due to unsaved changes');
+                                return; // Cancel disconnect
+                            }
+                            console.log('[Disconnect] User confirmed, proceeding with disconnect');
+                            // Clear isDirty flag so tab switch during disconnect doesn't show warning again
+                            TABS.javascript_programming.isDirty = false;
+                        }
+
                         if (this.isDemoRunning) {
                             SITLProcess.stop();
                             this.isDemoRunning = false;
                         }
-                        
+
                         var wasConnected = CONFIGURATOR.connectionValid;
 
                         timeout.killAll();

js/transpiler/API_BUGS_FOUND.md

@@ -0,0 +1,187 @@
+# Transpiler API Definition Bugs Found
+
+**Date:** 2025-12-02
+**Investigator:** Developer
+**Context:** Systematic verification of transpiler API definitions against INAV firmware
+
+---
+
+## Summary
+
+Found **3 critical bugs** in the transpiler API definitions where the configurator did not match the actual firmware implementation.
+
+---
+
+## Bug #1: waypoint.js - CRITICAL - Wrong Type and Fabricated Properties
+
+**File:** `js/transpiler/api/definitions/waypoint.js`
+
+### Issues Found:
+
+1. **Wrong Operand Type**
+   - **Bug:** Used `type: 5` (GVAR type)
+   - **Correct:** Should be `type: 7` (WAYPOINTS type)
+   - **Impact:** Waypoint properties would read global variables instead of waypoint data!
+
+2. **Fabricated Properties - Data Not Exposed by Firmware**
+   - The following properties were **completely fabricated** and do NOT exist in the firmware's logic condition operand system:
+     - ❌ `latitude` (claimed value: 2) - **DOES NOT EXIST**
+     - ❌ `longitude` (claimed value: 3) - **DOES NOT EXIST**
+     - ❌ `altitude` (claimed value: 4) - **DOES NOT EXIST**
+     - ❌ `bearing` (claimed value: 6) - **DOES NOT EXIST**
+     - ❌ `missionReached` (claimed value: 7) - **DOES NOT EXIST**
+     - ❌ `missionValid` (claimed value: 8) - **DOES NOT EXIST**
+
+3. **Missing Actual Properties**
+   - The file was missing these REAL properties that ARE exposed:
+     - Missing: `isWaypointMission` (value: 0)
+     - Missing: `nextAction` (value: 3)
+     - Missing: `distanceFromPrevious` (value: 5)
+     - Missing: ALL user action flags (values: 6-13)
+
+### Root Cause:
+- Incorrect source documentation cited: `navigation_pos_estimator.c`
+- **Actual source:** `src/main/programming/logic_condition.h` (logicWaypointOperands_e)
+- **Actual implementation:** `src/main/programming/logic_condition.c` (lines 575-669)
+
+### Firmware Reality:
+Waypoints have lat/lon/alt/bearing **internally**, but these are **NOT exposed** through the logic condition operand system (for security/simplicity).
+
+### Status: ✅ **FIXED**
+- Updated waypoint.js with correct type (7) and actual properties (0-13)
+- Added proper source documentation
+- Added comment explaining why lat/lon/alt/bearing aren't available
+
+---
+
+## Bug #2: codegen.js - RC Channel .value Syntax Not Supported
+
+**File:** `js/transpiler/transpiler/codegen.js` (line 614)
+
+### Issue:
+- **Bug:** Regex `/^rc\[(\d+)\]$/` only matched `rc[N]`, not `rc[N].value`
+- **Impact:** Users couldn't use `rc[N].value` syntax (explicit form)
+- **Note:** rc.js defines `.value` property, but transpiler rejected it
+
+### Status: ✅ **FIXED**
+- Updated regex to `/^rc\[(\d+)\](?:\.value)?$/`
+- Both `rc[N]` and `rc[N].value` now work as equivalent
+- Error message updated to reflect both syntaxes
+
+### Verification:
+Created comprehensive test (`test_rc_channels.js`) that confirms:
+- ✅ RC reads use operand type 1 (RC_CHANNEL) - Correct!
+- ✅ RC writes use operation 38 (RC_CHANNEL_OVERRIDE) - Correct!
+- ✅ Both `rc[N]` and `rc[N].value` syntax work
+
+---
+
+## Bug #3: inav_constants.js - Missing Flight Parameters 46-49
+
+**File:** `js/transpiler/transpiler/inav_constants.js`
+
+### Issue:
+- **Bug:** FLIGHT_PARAM stops at index 45 (CRSF_RSSI_DBM)
+- **Missing:** Firmware has parameters 46-49
+
+### Missing Parameters:
+From `inav/src/main/programming/logic_condition.h` (lines 151-154):
+
+```c
+LOGIC_CONDITION_OPERAND_FLIGHT_MIN_GROUND_SPEED,        // 46 - m/s
+LOGIC_CONDITION_OPERAND_FLIGHT_HORIZONTAL_WIND_SPEED,  // 47 - cm/s
+LOGIC_CONDITION_OPERAND_FLIGHT_WIND_DIRECTION,         // 48 - deg
+LOGIC_CONDITION_OPERAND_FLIGHT_RELATIVE_WIND_OFFSET,   // 49 - deg
+```
+
+### Impact:
+- Wind-related flight parameters cannot be accessed in transpiler
+- flight.js may also be missing these properties
+
+### Status: ⚠️ **NEEDS FIX**
+- Requires updating inav_constants.js FLIGHT_PARAM
+- Requires updating flight.js with wind properties
+- Requires re-running generate-constants.js script
+
+---
+
+## Additional Findings
+
+###rc.js - Type 4 Bug (FALSE ALARM)
+
+**File:** `js/transpiler/api/definitions/rc.js`
+
+**Initial concern:** Uses `type: 4` instead of `type: 1` (RC_CHANNEL)
+
+**Resolution:** ✅ **NO FIX NEEDED**
+- codegen.js handles RC channels **directly** and hardcodes correct type
+- Line 625 in codegen.js: `return { type: OPERAND_TYPE.RC_CHANNEL, value: index }`
+- rc.js definitions are not actually used for operand type mapping
+- Test confirms RC channels use correct type 1
+
+---
+
+## Files Modified
+
+1. ✅ `js/transpiler/api/definitions/waypoint.js` - Complete rewrite
+2. ✅ `js/transpiler/transpiler/codegen.js` - Regex fix for rc[N].value
+3. ✅ `js/transpiler/transpiler/tests/test_rc_channels.js` - New comprehensive test
+
+## Files Still Need Review
+
+4. ⚠️ `js/transpiler/transpiler/inav_constants.js` - Add FLIGHT_PARAM 46-49
+5. ⚠️ `js/transpiler/api/definitions/flight.js` - Add wind parameters
+6. ⏳ `js/transpiler/api/definitions/gvar.js` - Verify against firmware
+7. ⏳ `js/transpiler/api/definitions/pid.js` - Verify against firmware
+8. ⏳ `js/transpiler/api/definitions/override.js` - Verify operations
+
+---
+
+## Testing Performed
+
+### RC Channel Test (`test_rc_channels.js`)
+- Tests both reading (`rc[N]`, `rc[N].value`) and writing (`rc[N] = value`)
+- Verifies correct operand type (1) for reads
+- Verifies correct operation (38) for writes
+- Tests `low`, `mid`, `high` boolean properties
+- ✅ All tests pass (after fixes)
+
+### Waypoint Verification
+- Cross-referenced firmware source (`logic_condition.h`, `logic_condition.c`)
+- Confirmed actual exposed operands (0-13)
+- Documented why lat/lon/alt/bearing are not available
+
+---
+
+## Recommendations
+
+1. **Immediate:** Fix inav_constants.js and flight.js to add wind parameters 46-49
+2. **Process:** Re-run `generate-constants.js` script to ensure sync with firmware
+3. **Testing:** Add tests for waypoint operations to prevent regression
+4. **Documentation:** Update transpiler docs to clarify RC channel syntax options
+5. **Audit:** Complete verification of remaining API definition files (gvar, pid, override)
+
+---
+
+## Impact Assessment
+
+### Critical (Bug #1 - waypoint.js):
+- **Severity:** HIGH - Complete functional breakage
+- **User Impact:** Any code using waypoint.latitude/longitude/bearing would fail or return wrong data
+- **Likelihood:** MEDIUM - Users writing waypoint-based logic would encounter this
+
+### Moderate (Bug #2 - rc syntax):
+- **Severity:** MEDIUM - Syntax limitation
+- **User Impact:** Users forced to use shorthand, couldn't use explicit .value
+- **Likelihood:** LOW - Shorthand works, so users might not notice
+
+### Low (Bug #3 - missing wind params):
+- **Severity:** LOW - Missing features
+- **User Impact:** Wind-related conditions unavailable
+- **Likelihood:** LOW - Advanced feature, specific use case
+
+---
+
+**Total Issues:** 3 bugs found, 2 fixed, 1 pending
+**New Tests:** 1 comprehensive RC channel test added
+**Lines Changed:** ~150 lines across 3 files